• 로봇학회논문지
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• 제15권3호
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• pp.233-239
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• 2020

The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

• 로봇학회논문지
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• 제15권3호
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• pp.212-220
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• 2020

This paper deals with a strategy of gain optimization for the kinematic control algorithm of a wire-driven surgical robot. The proposed controller consists of the closed-loop inverse kinematics with the back-calculation method. The closed-loop inverse kinematics has 18 PID control gains, and the back-calculation method has 6 gains. An efficient strategy is designed to optimize 18 values first and then the remaining 6 values. The optimal gain sets are searched under the step input with performance indices. In this gain optimization, the objective function is defined as the minimum value of signal-to-noise ratio of the performance indices for 6 DoF (Degree-of-Freedom) motion that is based on the Taguchi method, and the constraints are applied to obtain stable responses for each motion evenly. The gain sets obtained are verified by simulations using the test trajectories. In comparative results, the optimal gain value based on the performance index combined with ISE (integral of square error) and settling time showed the best control performance.

• 한국전자통신학회논문지
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• 제9권6호
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• pp.641-647
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• 2014

독립형 태양광발전시스템은 배전선로와 계통 연계되지 않고 독립적으로 운영된다는 장점이 있어 시공설비가 간단하고 비용이 적게 드는 장점이 있지만 MPPT를 포함한 컨버터와 생산된 에너지를 배터리에 저장하기 위한 충전회로 및 배터리 매니징 회로가 요구된다. 기존의 대체에너지분야의 이용은 복합발전의 형태보다는 하나의 발전 형태를 주로 채택하고 있으나 태양광/풍력 복합발전시스템을 최적설계하고 배터리능력을 향상시켜 설치가격을 합리화 할 수 있는 통합형 제어시스템이 필요하다.

• Journal of Power Electronics
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• 제14권5호
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• pp.815-826
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• 2014

An improved bridgeless interleaved boost power factor correction (PFC) rectifier to improve power efficiency and component utilization is proposed in this study. With combined conventional bridgeless PFC circuit and interleaved technology, the proposed rectifier consists of two interleaved and magnetic inter-coupling boost bridgeless converter cells. Each cell operates alternatively in the critical conduction mode, which can achieve the soft-switching characteristics of the switches and increase power capacity. Auxiliary blocking diodes are employed to eliminate undesired circulating loops and reduce current-sensing noise, which are among the serious drawbacks of a dual-boost PFC rectifier. Magnetic component utilization is improved by symmetrically coupling two inductors on a unique core, which can achieve independence from each other based on the auxiliary diodes. Through the interleaved approach, each switch can operate in the whole line cycle. A simple control scheme is employed in the circuit by using a conventional interleaved controller. The operation principle and theoretical analysis of the converter are presented. A 600 W experimental prototype is built to verify the theoretical analysis and feasibility of the proposed rectifier. System efficiency reaches 97.3% with low total harmonic distortion at full load.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제51권10호
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• pp.573-580
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• 2002

This paper presents neural load disturbance observer that used to deadbeat load torque observer and regulation of the compensation gain by parameter estimator As a result, the response of PMSM follows that of the nominal plant. The load torque compensation method is compose of a neural deadbeat observer. To reduce of the noise effect, the post-filter, which is implemented by MA process, is proposed. The parameter compensator with RLSM(recursive least square method) parameter estimator is suggested to increase the performance of the load torque observer and main controller. The proposed estimator is combined with a high performance neural torque observer to resolve the problems. As a result, the proposed control system becomes a robust and precise system against the load torque and the parameter variation. A stability and usefulness, through the verified computer simulation and experiment, are shown in this paper.

• ETRI Journal
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• 제35권4호
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• pp.677-686
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• 2013

In this paper, we first introduce a general architecture of an energy management system in a home area network based on a smart grid. Then, we propose an efficient scheduling method for home power usage. The home gateway (HG) receives the demand response (DR) information indicating the real-time electricity price, which is transferred to an energy management controller (EMC). Referring to the DR, the EMC achieves an optimal power scheduling scheme, which is delivered to each electric appliance by the HG. Accordingly, all appliances in the home operate automatically in the most cost-effective way possible. In our research, to avoid the high peak-to-average ratio (PAR) of power, we combine the real-time pricing model with the inclining block rate model. By adopting this combined pricing model, our proposed power scheduling method effectively reduces both the electricity cost and the PAR, ultimately strengthening the stability of the entire electricity system.

• 전기학회논문지P
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• 제51권1호
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• pp.18-27
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• 2002

This paper presents an implementation of digital high-performance speed sensorless control system of an induction motor drives with Direct Torque Control(DTC). The system consists of closed loop stator flux and torque observer, speed and torque estimators, two hysteresis controllers, an optimal switching look-up table, IGBT voltage source inverter, and TMS320C31 DSP controller board. The stator flux observer is based on the combined current and voltage model with stator flux feedback adaptive control for wide speed range. The speed estimator is using the model reference adaptive system(MRAS) with rotor flux linkages for speed turning signal estimation. In order to prove the suggested speed sensorless control algorithm, and to obtain a high-dynamic robust adaptive performance, we have some simulations and actual experiments at low(20rpm) and high(1000rpm) speed areas. The developed speed sensorless system are shown a good speed control response characteristic, and high performance features using 2.2[kW] general purposed induction motor.

• Journal of Electrical Engineering and Technology
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• 제12권3호
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• pp.1195-1202
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• 2017

Induction motors often reach their maximum efficiency at the nominal load. In most applications, the machine load is not equal to the nominal load, thus reduces the motor efficiency and turns a greater percent of power into loss. In this paper, the induction motor control problem has been investigated to reduce the system losses. The Field Oriented Control method (FOC) has been employed in this paper. In this research, the mathematical equations related to system losses are calculated in relation to torque and speed, and then the q- and d-axis are summarized according to the current components. After that, the proposed method is applied along with d- and q-axis. In the recent three decades, many techniques have been suggested to improve the induction motor performance using smart and non-smart methods. In this paper, a new PSO-Fuzzy method have used in real time. The fuzzy logic method serves as speed controller in q-axis and PSO algorithm controls the optimum flux in d-axis. It will be proved that the use of this combined method will lead to a significant improvement in motor efficiency.

• Journal of Power Electronics
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• 제2권2호
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• pp.146-153
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• 2002

this paper presents an implementation of digital control system of speed sensorless for Reluctance Synchronous Motor (RSM) drives with direct torque control (DTC). The problem of DTC for high-dynamic performance RSM drive is generating a nonlinear torque due to a saturated nonlinear inductance curve with various load currents. The control system consists of stator flux observer, compensating inductance look-up table, rotor position/speed/torque estimator, two hysteresis band controllers, an optimal switching look-up table, IGBT voltage source unverter, and TMS320C31 DSP controller. The stator flux observer is based on the combined voltage and current model with stator flux feedback adapitve control that inputs are the compensated inductances, current and voltage sensing of motor terminal with estimated rotor angle for wide speed range. The rotor position is estimated rotor speed is determined by differentiation of the rotor position used only in the current model part of the flux observer for a low speed operation area. It does not requrie the knowledge of any montor paramenters, nor particular care for moter starting, In order to prove the suggested control algorithm, we have simulation and testing at actual experimental system. The developed sensorless control system is showing a good speed control response characterisitic result and high performance features in 20/1500 rpm with 1.0Kw RSM having 2.57 ratio of d/q reluctance.

• 한국방재학회:학술대회논문집
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• 한국방재학회 2008년도 정기총회 및 학술발표대회
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• pp.361-364
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• 2008

무선 센서 네트워크(Wireless Sensor Network: WSN)의 응용서비스 모델은 센서, 마이크로 컨트롤러, 무선 통신 칩셋을 결합한 센서 하드웨어에 의한 센서 네트워크, 데이터 처리를 위한 미들웨어, 사용자 서비스의 형태로 구성된다, 이러한 WSN응용은 환경모니터링, 공장자동화와 같은 분야에 적용되어 왔고, 주로 사람이 감시하기 힘든 원격 모니터링을 기반으로 하는 응용서비스에 집중되어 왔다. 본 논문에서는 무선 센서 네트워크의 응용모델을 기반으로 유비쿼터스 방재 시스템에 적용하기 위한 구축 고려요소에 대해 서술하고, 그 응용 범위의 적합성을 논한다. 제안하는 모델은 무선 센서 네트워크 하드웨어, 라우팅 기술, 미들웨어 구성요소, 보안정책에 관한 내용이 포함되어 있다.